getting set up to hack firmware

Michael23

Hello, we have the Duet Wifi and DueX5 and plan to use it to control a large custom 3d printer.
We plan to control 6 motors off of the Duet3d as well as an additional 5 from the DueX5.
We also plan to use the extra 2 stepper channels found on the CONN_LCD..
But we would still like to use 1 or 2 more..

so we are interested in hacking the firmware to add 1 or 2 more independent stepper channels.
I have seen that this has been accomplished by @kazolar in the forums.

so far I have been able to build the RepRapFirmware 2.02 from source in eclipse on a pc using the master branches of the following:

CoreNG, FreeRTOS, RRFLibraries and RepRapFirmware
I also have DuetWifiSocketServer, CoreESP8266 and LwipESP8266 projects loaded in eclipse

I can get this set to compile without error.

now to proceed towards repurposing pins and adding additional channels of motor control. From reading through posts in the forum.. I believe I need to use v2-dev branches of CoreNG and RepRapFirmware..

so far I have tried v2-dev branches of CoreNG and RepRapFirmware
compilation yields hundreds of errors like this one

'__are_same' was not declared in this scope RepRapFirmware
line 383, external location: c:\program files (x86)\gnu tools arm embedded\7 2018-q2-update\arm-none-eabi\include\c++\7.3.1\bits\stl_algobase.h C/C++ Problem

all of the visible errors concern the same file stl_algobase.h
am I working with the right branches? if so.. How do I fix this?

from @kazolar 's posts I was planing on modifying the Pins_DuetNG.h file for starters.. however the DuetNG folder containing it is crossed out in the RepRapFirmware src folder..

any help would be appreciated.

thanks!

dc42

Current development is on the dev branch of RepRapFirmware, not the v2-dev branch any more
Use the master branch of CoreNG for now, although I will switch to the dev branch when I have updated it
I have just switched to using the 2018-q4-major release of Gnu Tools ARM Embedded.
If the DuetNG folder is crossed out, you probably have the wrong project configuration selected. Build the Duet2_RTOS configuration of RepRapFirmware and the SAM4E8E_RTOS configurations of everything else.

Michael23

thank you for clarifying the branches and configurations..
So I believe I have all of the correct branches and configurations set in my project..
I also installed the new release of Gnu Tools ARM Embedded..
however, when I attempt to compile RepRapFirmware I get errors while building the file: ../src/Movement/Kinematics/HangprinterKinematics.cpp

here are some of the first error messages..

'class FixedMatrix<float, 9, 9>' has no member named 'Fill' CoreKinematics.cpp /RepRapFirmware/src/Movement/Kinematics line 50 C/C++ Problem

'class FixedMatrix<float, 9, 9>' has no member named 'Fill' CoreKinematics.cpp /RepRapFirmware/src/Movement/Kinematics line 129 C/C++ Problem

could not convert 'normalMatrix.FixedMatrix<double, 9, 10>::GaussJordan(((double*)numFactors), (numFactors + 1))' from 'void' to 'bool' HangprinterKinematics.cpp /RepRapFirmware/src/Movement/Kinematics line 426 C/C++ Problem

I have attached the console output below..

Building file: ../src/Movement/Kinematics/HangprinterKinematics.cpp
Invoking: Cross G++ Compiler
arm-none-eabi-g++ -D__SAM4E8E__ -DRTOS -DDUET_NG -D_XOPEN_SOURCE -I"C:\Eclipse\Firmware-dev\CoreNG\cores\arduino" -I"C:\Eclipse\Firmware-dev\CoreNG\libraries\Flash" -I"C:\Eclipse\Firmware-dev\CoreNG\libraries\SharedSpi" -I"C:\Eclipse\Firmware-dev\CoreNG\libraries\Storage" -I"C:\Eclipse\Firmware-dev\CoreNG\libraries\Wire" -I"C:\Eclipse\Firmware-dev\CoreNG\asf" -I"C:\Eclipse\Firmware-dev\CoreNG\asf\common\utils" -I"C:\Eclipse\Firmware-dev\CoreNG\asf\common\services\clock" -I"C:\Eclipse\Firmware-dev\CoreNG\asf\common\services\ioport" -I"C:\Eclipse\Firmware-dev\CoreNG\asf\sam\drivers" -I"C:\Eclipse\Firmware-dev\CoreNG\asf\sam\services\flash_efc" -I"C:\Eclipse\Firmware-dev\CoreNG\asf\sam\utils" -I"C:\Eclipse\Firmware-dev\CoreNG\asf\sam\utils\cmsis\sam4e\include" -I"C:\Eclipse\Firmware-dev\CoreNG\asf\sam\utils\header_files" -I"C:\Eclipse\Firmware-dev\CoreNG\asf\sam\utils\preprocessor" -I"C:\Eclipse\Firmware-dev\CoreNG\asf\thirdparty\CMSIS\Include" -I"C:\Eclipse\Firmware-dev\CoreNG\variants\duetNG" -I"C:\Eclipse\Firmware-dev\RepRapFirmware\src" -I"C:\Eclipse\Firmware-dev\RepRapFirmware\src\DuetNG" -I"C:\Eclipse\Firmware-dev\RepRapFirmware\src\Networking" -I"C:\Eclipse\Firmware-dev\DuetWiFiSocketServer\src\include" -I"C:\Eclipse\Firmware-dev\FreeRTOS\src\include" -I"C:\Eclipse\Firmware-dev\FreeRTOS\src\portable\GCC\ARM_CM4F" -I"C:\Eclipse\Firmware-dev\RRFLibraries\src" -O2 -Wall -c -std=gnu++17 -mcpu=cortex-m4 -mthumb -mfpu=fpv4-sp-d16 -mfloat-abi=hard -ffunction-sections -fdata-sections -fno-threadsafe-statics -fno-rtti -fno-exceptions -nostdlib -Wdouble-promotion -fsingle-precision-constant "-Wa,-ahl=HangprinterKinematics.s" -MMD -MP -MF"src/Movement/Kinematics/HangprinterKinematics.d" -MT"src/Movement/Kinematics/HangprinterKinematics.o" -o "src/Movement/Kinematics/HangprinterKinematics.o" "../src/Movement/Kinematics/HangprinterKinematics.cpp"
../src/Movement/Kinematics/CoreKinematics.cpp: In member function 'void CoreKinematics::Recalc()':
../src/Movement/Kinematics/CoreKinematics.cpp:36:42: error: invalid conversion from 'size_t' {aka 'unsigned int'} to 'float*' [-fpermissive]
const bool ok = tempMatrix.GaussJordan(MaxAxes, 2 * MaxAxes);
^~~~~~~
In file included from ../src/Movement/Kinematics/Kinematics.h:12,
from ../src/Movement/Kinematics/ZLeadscrewKinematics.h:11,
from ../src/Movement/Kinematics/CoreKinematics.h:11,
from ../src/Movement/Kinematics/CoreKinematics.cpp:8:
C:\Eclipse\Firmware-dev\RRFLibraries\src/Math/Matrix.h:87:93: note: initializing argument 1 of 'void FixedMatrix<T, ROWS, COLS>::GaussJordan(T*, size_t) [with T = float; unsigned int ROWS = 9; unsigned int COLS = 18; size_t = unsigned int]'
template<class T, size_t ROWS, size_t COLS> void FixedMatrix<T, ROWS, COLS>::GaussJordan(T solution, size_t numRows)
~^~~~~~
../src/Movement/Kinematics/CoreKinematics.cpp:36:62: error: void value not ignored as it ought to be
const bool ok = tempMatrix.GaussJordan(MaxAxes, 2 * MaxAxes);
^
../src/Movement/Kinematics/CoreKinematics.cpp:50:18: error: 'class FixedMatrix<float, 9, 9>' has no member named 'Fill'
forwardMatrix.Fill(0.0);
^~~~
../src/Movement/Kinematics/CoreKinematics.cpp: In constructor 'CoreKinematics::CoreKinematics(KinematicsType)':
../src/Movement/Kinematics/CoreKinematics.cpp:129:16: error: 'class FixedMatrix<float, 9, 9>' has no member named 'Fill'
inverseMatrix.Fill(0.0);
^~~~
src/Movement/Kinematics/subdir.mk:39: recipe for target 'src/Movement/Kinematics/CoreKinematics.o' failed
make: *** [src/Movement/Kinematics/CoreKinematics.o] Error 1
make: *** Waiting for unfinished jobs....
../src/Movement/Kinematics/HangprinterKinematics.cpp: In member function 'virtual bool HangprinterKinematics::DoAutoCalibration(size_t, const RandomProbePointSet&, const StringRef&)':
../src/Movement/Kinematics/HangprinterKinematics.cpp:426:33: error: invalid conversion from 'size_t' {aka 'unsigned int'} to 'double' [-fpermissive]
if (!normalMatrix.GaussJordan(numFactors, numFactors + 1))
^~~~~~~~~~
In file included from ../src/Movement/Kinematics/Kinematics.h:12,
from ../src/Movement/Kinematics/HangprinterKinematics.h:11,
from ../src/Movement/Kinematics/HangprinterKinematics.cpp:8:
C:\Eclipse\Firmware-dev\RRFLibraries\src/Math/Matrix.h:87:93: note: initializing argument 1 of 'void FixedMatrix<T, ROWS, COLS>::GaussJordan(T*, size_t) [with T = double; unsigned int ROWS = 9; unsigned int COLS = 10; size_t = unsigned int]'
template<class T, size_t ROWS, size_t COLS> void FixedMatrix<T, ROWS, COLS>::GaussJordan(T solution, size_t numRows)
~^~~~~~
../src/Movement/Kinematics/HangprinterKinematics.cpp:426:32: error: could not convert 'normalMatrix.FixedMatrix<double, 9, 10>::GaussJordan(((double)numFactors), (numFactors + 1))' from 'void' to 'bool'
if (!normalMatrix.GaussJordan(numFactors, numFactors + 1))
^~~~
../src/Movement/Kinematics/HangprinterKinematics.cpp:426:59: error: in argument to unary !
if (!normalMatrix.GaussJordan(numFactors, numFactors + 1))
^
src/Movement/Kinematics/subdir.mk:39: recipe for target 'src/Movement/Kinematics/HangprinterKinematics.o' failed
make: *** [src/Movement/Kinematics/HangprinterKinematics.o] Error 1

14:16:44 Build Failed. 12 errors, 0 warnings. (took 18s.607ms)

dc42

You have incompatible versions or branches of projects RepRapFirmware and RRFLibraries in your Eclipse workspace.

Michael23

so I was able to build the latest beta pre-lease 2.03beta2 using the updated recipe from the build instructions:

package: branch: configuration

RepRapFirmware: main: Duet2_RTOS
CoreNG: main: SAM4E8E_RTOS
FreeRTOS: main: SAM4E
RRFLibraries: main: SAM4E_RTOS
DuetWiFiSocketServer: dev: Release

I think I may still have the wrong configuration set for RepRapFirmware as I'm using the Duet2 Wifi and the DuetNG folder containing the file Pins_DuetNG.h is still greyed out..

Pins_DuetNG.h was the file kazolar mentions modifying in the forums to add additional motor control channels.. under my current build I have access to Pins_Duet.h should I start with this file instead?

Is Duet2_RTOS the correct configuration of RepRapFirmware for my Duet2 Wifi board? It builds without error and when I uploaded it to the board, the web interface reports back "RepRapFirmware for Duet 2 WiFi/Ethernet" for the firmware name. The possible configurations for RepRapFirmware are below:

Alligator
Duet085
Duet085_RTOS
Duet2_RTOS
Duet3_V03
Duet3_V05
DuetM_RTOS
PCCB_08
PCCB_08X5
PCCB_10
RADDS_RTOS
SAME70XPLD

Thank you for taking a look at this.

dc42

Duet2_RTOS is the correct configuration for the Duet WiFi/Ethernet, but you should use the dev branch of every project except FreeRTOS.

Michael23

So I have modified my build as you suggested and now have the following:

RepRapFirmware: dev: Duet2_RTOS
CoreNG: dev: SAM4E8E_RTOS
FreeRTOS: main: SAM4E
RRFLibraries: dev: SAM4E_RTOS
DuetWiFiSocketServer: dev: Release

when I build I get errors.. see the build log attached.
0_1553634404249_build log.txt

thanks.

dc42

Update your RepRapFirmware project source files from the latest commit. A few days ago I accepted a PR from another user, but it turned out to be incompatible with other commits I had made recently. So the commit that implemented that PR doesn't build.

Michael23

So I got that to build without errors.. thanks!

however the RepRapFirmware\src\DuetNG folder and the file Pins_DuetNG.h are still greyed out..

Pins_DuetNG.h was the file kazolar mentions modifying in the forums to add additional motor control channels..

under my current build I have access to RepRapFirmware\src\Duet\Pins_Duet.h should I start with this file instead?

Thanks for your help

dc42

You have selected the wrong configuration of the RepRapFirmware to build. Select the Duet2 configuration. Then the DuetNG folder will not be greyed out.

Michael23

After a break, I'm back to work on the firmware..
Here's an image of my project folder from eclipse

dc42

The Duet_NG folder that is greyed out is the important one. I sometimes find that Eclipse greys out the wrong folder. Changing the configuration to a different one and then back again usually fixes it. However, when the wrong folder is greyed out, the build still works.

The version of Eclipse that I currently use is 2019-03.